The problem of designing a sliding mode controller for uncertain MIMO dynamical systems with matched and unmatched uncertainties using only measured output signals is addressed. A design methodology based on LMI's under a polytopic formulation is presented for the existence and reachability problems. The proposed controller is static in nature. The reaching and sliding motion are guaranteed despite the presence of both matched and unmatched uncertainties. A design study involving the lateral control of an aircraft is employed in order to illustrate the efficacy of the approach developed.
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